public PwmOutputConfigureCommand(DigitalOutputSpec spec, bool enable)
{
this.PwmDef = new PwmOutputSpec(spec);
this.Enable = enable;
this.DutyCycle = float.NaN;
this.RequestedFrequency = 1000; // default in IOIO is 1Khz for sampling so maybe here too
}
public void IOIOImpl_ToggleLED()
{
IOIOConnection ourConn = this.CreateGoodSerialConnection(false);
this.CreateCaptureLogHandlerSet();
// we'll add the handler state on top of the default handlers so we don't have to peek into impl
IOIO ourImpl = CreateIOIOImplAndConnect(ourConn,
new List <IObserverIOIO>()
{
this.CapturedConnectionState_, this.CapturedSingleQueueAllType_, this.CapturedLogs_
});
LOG.Debug("Setup Complete");
System.Threading.Thread.Sleep(100); // wait for us to get the hardware ids
DigitalOutputSpec ledSpec = new DigitalOutputSpec(Spec.LED_PIN);
// SHOULD USE THE FACTORY instead of this lame ...
IDigitalOutputConfigureCommand confDigitalOut = new DigitalOutputConfigureCommand(
ledSpec);
IDigitalOutputValueSetCommand turnItOn = new DigitalOutputSetValueCommand(ledSpec, true);
IDigitalOutputValueSetCommand turnItOff = new DigitalOutputSetValueCommand(ledSpec, false);
ourImpl.PostMessage(confDigitalOut);
for (int i = 0; i < 8; i++)
{
System.Threading.Thread.Sleep(150);
ourImpl.PostMessage(turnItOn);
System.Threading.Thread.Sleep(150);
ourImpl.PostMessage(turnItOff);
}
// this test can fail if we can't connect to the device but otherwise no way to read pin 1 values
Assert.IsTrue(true, "there is no status to check");
}
public void CreateDigitalOutputTo_ToggleLED()
{
IOIOConnection ourConn = this.CreateGoodSerialConnection();
this.CreateCaptureLogHandlerSet();
// add our handlers on to p of default so we don't have to grovel around in the internal variables
IOIOProtocolIncoming fooIn = new IOIOProtocolIncoming(ourConn.GetInputStream(), HandlerObservable_);
IOIOProtocolOutgoing fooOut = new IOIOProtocolOutgoing(ourConn.GetOutputStream());
System.Threading.Thread.Sleep(100); // wait for us to get the hardware ids
DigitalOutputSpec ledSpec = new DigitalOutputSpec(Spec.LED_PIN);
IDigitalOutputConfigureCommand commandSetup = new DigitalOutputConfigureCommand(
ledSpec, false);
IDigitalOutputValueSetCommand commandOn = new DigitalOutputSetValueCommand(ledSpec, true);
IDigitalOutputValueSetCommand commandOff = new DigitalOutputSetValueCommand(ledSpec, false);
//// TODO should use the hardware from the captured connection
IResourceManager rManager = new ResourceManager(Hardware.IOIO0003);
commandSetup.Alloc(rManager);
commandOn.Alloc(rManager);
commandOff.Alloc(rManager);
commandSetup.ExecuteMessage(fooOut);
for (int i = 0; i < 8; i++)
{
System.Threading.Thread.Sleep(200);
commandOn.ExecuteMessage(fooOut);
System.Threading.Thread.Sleep(200);
commandOff.ExecuteMessage(fooOut);
}
Assert.IsTrue(true, "there is no status to check");
}
/// <summary>
/// TODO add PeriodUSec to this constructor
/// </summary>
/// <param name="spec"></param>
/// <param name="freqHz"></param>
/// <param name="dutyCycle"></param>
public PwmOutputConfigureCommand(DigitalOutputSpec spec, int freqHz, float dutyCycle)
{
this.PwmDef = new PwmOutputSpec(spec);
this.Enable = true;
this.DutyCycle = dutyCycle;
this.RequestedFrequency = freqHz;
}
private void ConfigureLed(IOIOMessageCommandFactory commandFactory)
{
LedPinSpec_ = new DigitalOutputSpec(Spec.LED_PIN);
IDigitalOutputConfigureCommand createLED = commandFactory.CreateDigitalOutputConfigure(LedPinSpec_,
LEDValueForState(false));
OurImpl_.PostMessage(createLED);
}
/// <summary>
/// Do we even need all these parameters? Isn't there only one SpiMaster on the board
/// </summary>
/// <param name="miso"></param>
/// <param name="mosi"></param>
/// <param name="clock"></param>
/// <param name="slaveSelect"></param>
/// <param name="rate"></param>
internal SpiMasterConfigureCommand(DigitalInputSpec miso, DigitalOutputSpec mosi, DigitalOutputSpec clock, DigitalOutputSpec[] slaveSelect, SpiMasterConfig rate)
{
this.Miso = miso;
this.Mosi = mosi;
this.Clock = Clock;
this.SlaveSelect = slaveSelect;
this.Rate = rate;
throw new NotImplementedException("Post(IOpenSpiMasterTo) not tied together in outgoing protocol");
}
public void ServoTest_SimpleServoTest()
{
//// TODO should use the hardware from the captured connection
IResourceManager rManager = new ResourceManager(Hardware.IOIO0003);
IOIOConnection ourConn = this.CreateGoodSerialConnection();
this.CreateCaptureLogHandlerSet();
IOIOProtocolIncoming fooIn = new IOIOProtocolIncoming(ourConn.GetInputStream(), HandlerObservable_);
IOIOProtocolOutgoing fooOut = new IOIOProtocolOutgoing(ourConn.GetOutputStream());
System.Threading.Thread.Sleep(20); // wait for us to get the hardware ids
int pwmFrequency = 100;
DigitalOutputSpec pwmPinSpec = new DigitalOutputSpec(3, DigitalOutputSpecMode.NORMAL);
// configure for servo
PwmOutputConfigureCommand commandCreatePWM = new PwmOutputConfigureCommand(pwmPinSpec, pwmFrequency);
commandCreatePWM.Alloc(rManager);
commandCreatePWM.ExecuteMessage(fooOut);
System.Threading.Thread.Sleep(100);
for (int i = 0; i < 4; i++)
{
// change it after settling
PwmOutputUpdateCommand lowValue = new PwmOutputUpdatePulseWidthCommand(commandCreatePWM.PwmDef, 600);
lowValue.Alloc(rManager);
lowValue.ExecuteMessage(fooOut);
System.Threading.Thread.Sleep(500);
// change it after settling
PwmOutputUpdateCommand highValue = new PwmOutputUpdatePulseWidthCommand(commandCreatePWM.PwmDef, 2000);
highValue.Alloc(rManager);
highValue.ExecuteMessage(fooOut);
System.Threading.Thread.Sleep(500);
}
PwmOutputCloseCommand commandReleasePwm = new PwmOutputCloseCommand(commandCreatePWM.PwmDef);
commandReleasePwm.Alloc(rManager);
commandReleasePwm.ExecuteMessage(fooOut);
System.Threading.Thread.Sleep(500);
//IEnumerable<IReportAnalogPinValuesFrom> readValues = this.HandlerSingleQueueAllType_.CapturedMessages_
// .OfType<IReportAnalogPinValuesFrom>();
//Assert.IsTrue(readValues.Count() >= 1, "Didn't find the number of expected IReportAnalogPinValuesFrom: " + readValues.Count());
// logging the messages with any other string doesn't show the messages themselves !?
LOG.Debug("Captured " + +this.CapturedSingleQueueAllType_.Count());
LOG.Debug(this.CapturedSingleQueueAllType_.GetEnumerator());
// should verify close command
}
public void CreateAnalogInputOutputTo_AnalogLoopbackOut31In32()
{
//// TODO should use the hardware from the captured connection
IResourceManager rManager = new ResourceManager(Hardware.IOIO0003);
IOIOConnection ourConn = this.CreateGoodSerialConnection();
this.CreateCaptureLogHandlerSet();
IOIOProtocolIncoming fooIn = new IOIOProtocolIncoming(ourConn.GetInputStream(), HandlerObservable_);
IOIOProtocolOutgoing fooOut = new IOIOProtocolOutgoing(ourConn.GetOutputStream());
System.Threading.Thread.Sleep(100); // wait for us to get the hardware ids
AnalogInputConfigureCommand commandCreateIn = new AnalogInputConfigureCommand(31, true);
commandCreateIn.Alloc(rManager);
commandCreateIn.ExecuteMessage(fooOut);
System.Threading.Thread.Sleep(10);
DigitalOutputSpec pwmPinSpec = new DigitalOutputSpec(32, DigitalOutputSpecMode.NORMAL);
// set analog "voltage"
PwmOutputConfigureCommand commandCreatePWM = new PwmOutputConfigureCommand(pwmPinSpec, 1000, 0.3f);
commandCreatePWM.Alloc(rManager);
commandCreatePWM.ExecuteMessage(fooOut);
System.Threading.Thread.Sleep(100);
// change it after settling
PwmOutputUpdateCommand commandChangePWM = new PwmOutputUpdateDutyCycleCommand(commandCreatePWM.PwmDef, 0.7f);
commandChangePWM.Alloc(rManager);
commandChangePWM.ExecuteMessage(fooOut);
System.Threading.Thread.Sleep(100);
PwmOutputCloseCommand commandReleasePwm = new PwmOutputCloseCommand(commandCreatePWM.PwmDef);
commandReleasePwm.Alloc(rManager);
commandReleasePwm.ExecuteMessage(fooOut);
System.Threading.Thread.Sleep(50);
IEnumerable <IReportAnalogPinValuesFrom> readValues = this.CapturedSingleQueueAllType_
.OfType <IReportAnalogPinValuesFrom>();
Assert.IsTrue(readValues.Count() >= 1, "Didn't find the number of expected IReportAnalogPinValuesFrom: " + readValues.Count());
// logging the messages with any other string doesn't show the messages themselves !?
LOG.Debug("Captured " + this.CapturedSingleQueueAllType_.Count());
LOG.Debug(this.CapturedSingleQueueAllType_.GetEnumerator());
// should verify close command
}
private void ConfigurePwm(IOIOMessageCommandFactory commandFactory)
{
DigitalOutputSpec pwmPinSpec = new DigitalOutputSpec(SERVO_PIN, DigitalOutputSpecMode.NORMAL);
IPwmOutputConfigureCommand createPwm = commandFactory.CreatePwmOutputConfigure(pwmPinSpec, 100);
OurImpl_.PostMessage(createPwm);
// message post fills in pin def so pick that up. runs in a thread so wait until command completes
// have to capture the PwmDef to get the frequencey
while (createPwm.PwmDef.Frequency < 0)
{
System.Threading.Thread.Sleep(10);
}
this.ServoPinDef_ = createPwm.PwmDef;
// value should match minimum of the slider
IPwmOutputUpdatePulseWidthCommand command =
new IOIOMessageCommandFactory().CreatePwmPulseWithOutputUpdate(this.ServoPinDef_, 600.0f);
OurImpl_.PostMessage(command);
}
public ISpiMasterConfigureCommand CreateSpiMasterOpen(int miso, int mosi, int clk, int slaveSelect, Component.Types.SpiMasterRate rate)
{
DigitalOutputSpec[] slaveSelectCalc = new DigitalOutputSpec[1];
slaveSelectCalc[0] = new DigitalOutputSpec(slaveSelect);
return(new SpiMasterConfigureCommand(new DigitalInputSpec(miso), new DigitalOutputSpec(mosi), new DigitalOutputSpec(clk), slaveSelectCalc, new SpiMasterConfig(rate)));
}
public IDigitalOutputValueSetCommand CreateDigitalOutputCommandSet(DigitalOutputSpec spec, bool level)
{
return(new DigitalOutputSetValueCommand(spec, level));
}
internal DigitalOutputSetValueCommand(DigitalOutputSpec pinDef, bool level)
{
// TODO: Complete member initialization
this.PinDef = pinDef;
this.Level = level;
}
public IPwmOutputConfigureCommand CreatePwmOutputConfigure(DigitalOutputSpec spec, int freqHz, float dutyCycle)
{
return(new PwmOutputConfigureCommand(spec, freqHz, dutyCycle));
}
public IPwmOutputConfigureCommand CreatePwmOutputConfigure(DigitalOutputSpec spec, int freqHz)
{
return(new PwmOutputConfigureCommand(spec, freqHz));
}
public IPwmOutputConfigureCommand CreatePwmOutputConfigure(DigitalOutputSpec spec, bool enable)
{
return(new PwmOutputConfigureCommand(spec, enable));
}
public DigitalOutputCloseCommand(DigitalOutputSpec spec)
{
this.PinDef = spec;
}
public IDigitalOutputCloseCommand CreateDigitalOutputCommandClose(DigitalOutputSpec spec)
{
return(new DigitalOutputCloseCommand(spec));
}
